#ifndef CONTROL_H
#define CONTROL_H
#include <stdint.h>
#include "PID.h"
#include "RDdata.h"
void car_stop(void);
void worning(uint8_t flag);
void Load(int moto1,int moto2);
void Question_Init(void);
void Trace_Black(void);
void Forward_Trace(void);
void Around_Trace(void);
void Cross_half(void);
void Around_Trace_Two(void);
void Cross_Full(void);

extern float Final;
extern float Final_Basic;
extern float Final_Low;
extern tPID PID_Straight;
extern tPID PID_Trace;
extern tPID PID_LowSpeed_Trace;
extern tPID PID_BasicSpeed_Trace;
extern tPID PID_HighSpeed_Trace;

extern JY901_Angle IMU;
extern uint8_t Forward_Flag;
extern uint8_t Trace_Black_Flag;
extern uint8_t Cross_Half_Flag;
extern uint8_t Around_Trace_Two_Flag;
extern uint8_t Cross_Full_Flag;
extern Trace_Excursion Trace_Ex;
extern uint8_t Around_Trace_Flag;
#endif //CONTROL_H
